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Vision-based conventional landing of a fixed wing UAV is addressed in this thesis. The work includes mathematical modeling, interface to a software for rendering the outside scenery, image processing techniques, control law development and outdoor experimentation. This research focuses on detecting the lines or the edges that flank the landing site, use them as visual cues to extract the geometrical parameters such as the line co-ordinates and the line slopes, that are mapped to the control law, to align and conventionally land the fixed wing UAV. Pre-processing and image processing techniques such as Canny Edge detection and Hough Transforms have been used to detect the runway lines or the edges of a landing strip. A Vision-in-the-Loop Simulation (VILS) set up on a personal computer or laptop, has been developed, without any external camera/equipment or networking cables that enables visual serving toper form vision-based studies and simulation. UAV mass, inertia, engine and aero data from literature has been used along withUAV6DOF equations to represent the UAV mathematical model. The UAV model is interfaced to a software using UDP data packets via ports, for rendering the outside scenery in accordance with the UAV’s translation and orientation. The snapshots of the outside scenery, that is passed through an internet URL by including the ‘http’ protocol, is image processed to detect the lines and the line parameters for the control. VILS set has been used to simulate UAV alignment to the runway and landing. Vision-based alignment is achieved by rolling the UAV such that the landing strip that is off center is brought to the center of the image plane. A two stage proportional aileron control input using the line co-ordinates, bringing the midpoints of the top ends of the runway lines to the center of the image, followed by bringing the mid points of the bottom ends of the runway lines to the center of the image has been demonstrated through simulation. A vision-based control for landing has been developed, that consists of an elevator command that is commiserate with the acceptable range of glide slope followed by a flare command till touch down, which is a function of the flare height and estimated height from the 3rd order polynomial of the runway slope obtained by characterization. The feasibility of using the algorithms for a semi-prepared or unprepared landing strip with no visible runway lines have also been demonstrated. Landing on an empty tract of land and in poor visibility condition, by synthetically drawing the runway lines based on a single 3rd order slope. vs height polynomial solution are also presented. A fixed area, and a dynamic area search for the Hough peaks in the Hough accumulator array for the correct detection of lines are addressed. A novel technique for crosswind landing, quite different from conventional techniques, has been introduced, using only the aileron control input for correcting the drift. Three different strategies using the line co-ordinates and the line slopes, with varying levels of accuracy have been presented and compared. About 125 landing data of a manned instrumented prototype aircraft have been analysed to corroborate the findings of this research. Outdoor experiments are also conducted to verify the feasibility of using the line detection algorithm in a realistic scenario and to generate experimental evidence for the findings of this research. Computation time estimates are presented to establish the feasibility of using vision for the problem of conventional landing. The thesis concludes with the findings and direction for future work.

Background: The relevance of conducting this thesis is evident by the fact that bus and coach casualties have been “stubbornly stable” in Europe recent years and a need for investigating if a similar trend could be found in Sweden is therefore obvious. It was also important to add new knowledge to the bus and coach research in Sweden, since many areas were scarcely addressed. Aims: To describe bus and coach occupants’ injuries, crash and injury mechanisms generated in a traffic environment based on data from the medical sector. Additional aims were to investigate the injury reducing effect of a 3-point belt, the effect of cross-winds, and crucial factors in the emergency- and rescue response. Material and methods: Injury data analyses were based on a complete ten-year medical data set from a catchment-area with about 130,000 inhabitants. A number of crash studies with the scope in different crash phases were conducted by applying and elaborating the Haddon matrix as a framework. An additional framework, Protocol for Major Incidents was used in order to investi-gate the emergency- and rescue response to a severe coach crash. Results: Between the first and second five-year period, the incidence of injured in non-crash in-cidents was increased by 24%. In non-crash incidents, 54% were injured; 2/3 while alighting from a bus or coach. The pre-crash factor cross-wind, in addition to vehicle design, vehicle speed and road friction, was investigated in ten crashes. It was confirmed that cross-wind, in relation to vehicle speed and slippery road conditions, needs more attention. The importance of goods load-ing and passengers’ position in the bus, was indicated by the fact that a displacement of the cen-tre of mass rearwards with 10% increased the necessary coefficient of friction with, on average 45%, which in many cases corresponded to dry road conditions. Three Swedish rollover crashes were analysed with regard to the injury outcome, mechanisms and the possible injury reduction for occupants using a safety belt. A considerable increase in safety for occupants belted with 3-point belts was shown through limiting interior contacts, occupant interaction and the possibility of ejection. Crucial post-crash factors in the emergency- and rescue response showed that ordi-nary ways of working and equipment are not always useful and proper equipment for lifting a coach body is essential in the case of a rollover. Finally, the communication between the hospitals is important, and the telephone systems may be overloaded by calls from worried relatives and media. Conclusions: In non-crash events: Non-crash events constitute a majority of all bus and coach casualties with a high proportion of elderly female occupants among the MAIS 2+ injury cases. Boarding and, especially alighting causes many injuries to the lower extremities. In the pre-crash phase: Cross-winds do affect the safety of buses and coaches and requires more at-tention. Seat belt usage among bus and coach occupants has to be increased. In the crash phase: Rollover and ejection are the major causes behind serious and fatal injuries to bus and coach occupants, consequently, retentive glazing, pillars or rails need more attention. An upgrade from 2-point seat belts to 3-point seat belts yields an increase in the estimated injury re-duction from approximately 50% up to 80% for the MAIS 2+ casualties in a rollover crash. In the post-crash phase: In order to be able to lift a coach body proper equipment originated from experience and development is essential in a rescue operation of a crashed bus or coach. Fur-thermore, to improve the emergency response inside crashed coaches proper methods originated from experience need to be developed. Euro NBAP: Based on the results and conclusions generated in this thesis, a European New Bus and Coach Assessment Programme is suggested, which would provide bus and coach occupants with a assessment programme similar to the Euro NCAP.